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flightgear/src/FDM/JSBSim/FGOutput.cpp

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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Module: FGOutput.cpp
Author: Jon Berndt
Date started: 12/02/98
Purpose: Manage output of sim parameters to file or stdout
Called by: FGSimExec
------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
details.
You should have received a copy of the GNU General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA.
Further information about the GNU General Public License can also be found on
the world wide web at http://www.gnu.org.
FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
This is the place where you create output routines to dump data for perusal
later.
HISTORY
--------------------------------------------------------------------------------
12/02/98 JSB Created
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGOutput.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGAtmosphere.h"
#include "FGFCS.h"
#include "FGAerodynamics.h"
#include "FGGroundReactions.h"
#include "FGAircraft.h"
#include "FGMassBalance.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
namespace JSBSim {
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_OUTPUT;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
{
Name = "FGOutput";
sFirstPass = dFirstPass = true;
socket = 0;
Type = otNone;
Filename = "JSBSim.out";
SubSystems = 0;
enabled = true;
Debug(0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGOutput::~FGOutput()
{
if (socket) delete socket;
Debug(1);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGOutput::Run(void)
{
if (enabled) {
if (!FGModel::Run()) {
if (Type == otSocket) {
SocketOutput();
} else if (Type == otCSV) {
DelimitedOutput(Filename);
} else if (Type == otTerminal) {
// Not done yet
} else if (Type == otNone) {
// Do nothing
} else {
// Not a valid type of output
}
return false;
} else {
return true;
}
}
return false;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGOutput::SetType(string type)
{
if (type == "CSV") {
Type = otCSV;
} else if (type == "TABULAR") {
Type = otTab;
} else if (type == "SOCKET") {
Type = otSocket;
} else if (type == "TERMINAL") {
Type = otTerminal;
} else if (type != string("NONE")) {
Type = otUnknown;
cerr << "Unknown type of output specified in config file" << endl;
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGOutput::DelimitedOutput(string fname)
{
streambuf* buffer;
if (fname == "COUT" || fname == "cout") {
buffer = cout.rdbuf();
} else {
datafile.open(fname.c_str());
buffer = datafile.rdbuf();
}
ostream outstream(buffer);
if (dFirstPass) {
outstream << "Time";
if (SubSystems & ssSimulation) {
// Nothing here, yet
}
if (SubSystems & ssAerosurfaces) {
outstream << ", ";
outstream << "Aileron Cmd, ";
outstream << "Elevator Cmd, ";
outstream << "Rudder Cmd, ";
outstream << "Flap Cmd, ";
outstream << "Left Aileron Pos, ";
outstream << "Right Aileron Pos, ";
outstream << "Elevator Pos, ";
outstream << "Rudder Pos, ";
outstream << "Flap Pos";
}
if (SubSystems & ssRates) {
outstream << ", ";
outstream << "P, Q, R, ";
outstream << "Pdot, Qdot, Rdot";
}
if (SubSystems & ssVelocities) {
outstream << ", ";
outstream << "QBar, ";
outstream << "Vtotal, ";
outstream << "UBody, VBody, WBody, ";
outstream << "UAero, VAero, WAero, ";
outstream << "Vn, Ve, Vd";
}
if (SubSystems & ssForces) {
outstream << ", ";
outstream << "Drag, Side, Lift, ";
outstream << "L/D, ";
outstream << "Xforce, Yforce, Zforce, ";
outstream << "xGravity, yGravity, zGravity, ";
outstream << "xCoriolis, yCoriolis, zCoriolis, ";
outstream << "xCentrifugal, yCentrifugal, zCentrifugal";
}
if (SubSystems & ssMoments) {
outstream << ", ";
outstream << "L, M, N";
}
if (SubSystems & ssAtmosphere) {
outstream << ", ";
outstream << "Rho, ";
outstream << "NWind, EWind, DWind";
}
if (SubSystems & ssMassProps) {
outstream << ", ";
outstream << "Ixx, ";
outstream << "Iyy, ";
outstream << "Izz, ";
outstream << "Ixz, ";
outstream << "Mass, ";
outstream << "Xcg, Ycg, Zcg";
}
if (SubSystems & ssPosition) {
outstream << ", ";
outstream << "Altitude, ";
outstream << "Phi, Tht, Psi, ";
outstream << "Alpha, ";
outstream << "Beta, ";
outstream << "Latitude, ";
outstream << "Longitude, ";
outstream << "Distance AGL, ";
outstream << "Runway Radius";
}
if (SubSystems & ssCoefficients) {
outstream << ", ";
outstream << Aerodynamics->GetCoefficientStrings();
}
if (SubSystems & ssFCS) {
outstream << ", ";
outstream << FCS->GetComponentStrings();
}
if (SubSystems & ssGroundReactions) {
outstream << ", ";
outstream << GroundReactions->GetGroundReactionStrings();
}
if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
outstream << ", ";
outstream << Propulsion->GetPropulsionStrings();
}
outstream << endl;
dFirstPass = false;
}
outstream << State->Getsim_time();
if (SubSystems & ssSimulation) {
}
if (SubSystems & ssAerosurfaces) {
outstream << ", ";
outstream << FCS->GetDaCmd() << ", ";
outstream << FCS->GetDeCmd() << ", ";
outstream << FCS->GetDrCmd() << ", ";
outstream << FCS->GetDfCmd() << ", ";
outstream << FCS->GetDaLPos() << ", ";
outstream << FCS->GetDaRPos() << ", ";
outstream << FCS->GetDePos() << ", ";
outstream << FCS->GetDrPos() << ", ";
outstream << FCS->GetDfPos();
}
if (SubSystems & ssRates) {
outstream << ", ";
outstream << Rotation->GetPQR() << ", ";
outstream << Rotation->GetPQRdot();
}
if (SubSystems & ssVelocities) {
outstream << ", ";
outstream << Translation->Getqbar() << ", ";
outstream << Translation->GetVt() << ", ";
outstream << Translation->GetUVW() << ", ";
outstream << Translation->GetAeroUVW() << ", ";
outstream << Position->GetVel();
}
if (SubSystems & ssForces) {
outstream << ", ";
outstream << Aerodynamics->GetvFs() << ", ";
outstream << Aerodynamics->GetLoD() << ", ";
outstream << Aircraft->GetForces() << ", ";
outstream << Inertial->GetGravity() << ", ";
outstream << Inertial->GetCoriolis() << ", ";
outstream << Inertial->GetCentrifugal();
}
if (SubSystems & ssMoments) {
outstream << ", ";
outstream << Aircraft->GetMoments();
}
if (SubSystems & ssAtmosphere) {
outstream << ", ";
outstream << Atmosphere->GetDensity() << ", ";
outstream << Atmosphere->GetWindNED();
}
if (SubSystems & ssMassProps) {
outstream << ", ";
outstream << MassBalance->GetIxx() << ", ";
outstream << MassBalance->GetIyy() << ", ";
outstream << MassBalance->GetIzz() << ", ";
outstream << MassBalance->GetIxz() << ", ";
outstream << MassBalance->GetMass() << ", ";
outstream << MassBalance->GetXYZcg();
}
if (SubSystems & ssPosition) {
outstream << ", ";
outstream << Position->Geth() << ", ";
outstream << Rotation->GetEuler() << ", ";
outstream << Translation->Getalpha() << ", ";
outstream << Translation->Getbeta() << ", ";
outstream << Position->GetLatitude() << ", ";
outstream << Position->GetLongitude() << ", ";
outstream << Position->GetDistanceAGL() << ", ";
outstream << Position->GetRunwayRadius();
}
if (SubSystems & ssCoefficients) {
outstream << ", ";
outstream << Aerodynamics->GetCoefficientValues();
}
if (SubSystems & ssFCS) {
outstream << ", ";
outstream << FCS->GetComponentValues();
}
if (SubSystems & ssGroundReactions) {
outstream << ", ";
outstream << GroundReactions->GetGroundReactionValues();
}
if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
outstream << ", ";
outstream << Propulsion->GetPropulsionValues();
}
outstream << endl;
outstream.flush();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGOutput::SocketOutput(void)
{
string asciiData;
if (socket == NULL) return;
if (!socket->GetConnectStatus()) return;
socket->Clear();
if (sFirstPass) {
socket->Append("<LABELS>");
socket->Append("Time");
socket->Append("Altitude");
socket->Append("Phi");
socket->Append("Tht");
socket->Append("Psi");
socket->Append("Rho");
socket->Append("Vtotal");
socket->Append("UBody");
socket->Append("VBody");
socket->Append("WBody");
socket->Append("UAero");
socket->Append("VAero");
socket->Append("WAero");
socket->Append("Vn");
socket->Append("Ve");
socket->Append("Vd");
socket->Append("Udot");
socket->Append("Vdot");
socket->Append("Wdot");
socket->Append("P");
socket->Append("Q");
socket->Append("R");
socket->Append("PDot");
socket->Append("QDot");
socket->Append("RDot");
socket->Append("Fx");
socket->Append("Fy");
socket->Append("Fz");
socket->Append("Latitude");
socket->Append("Longitude");
socket->Append("QBar");
socket->Append("Alpha");
socket->Append("L");
socket->Append("M");
socket->Append("N");
socket->Append("Throttle Position");
socket->Append("Left Aileron Position");
socket->Append("Right Aileron Position");
socket->Append("Elevator Position");
socket->Append("Rudder Position");
sFirstPass = false;
socket->Send();
}
socket->Clear();
socket->Append(State->Getsim_time());
socket->Append(Position->Geth());
socket->Append(Rotation->Getphi());
socket->Append(Rotation->Gettht());
socket->Append(Rotation->Getpsi());
socket->Append(Atmosphere->GetDensity());
socket->Append(Translation->GetVt());
socket->Append(Translation->GetUVW(eU));
socket->Append(Translation->GetUVW(eV));
socket->Append(Translation->GetUVW(eW));
socket->Append(Translation->GetAeroUVW(eU));
socket->Append(Translation->GetAeroUVW(eV));
socket->Append(Translation->GetAeroUVW(eW));
socket->Append(Position->GetVn());
socket->Append(Position->GetVe());
socket->Append(Position->GetVd());
socket->Append(Translation->GetUVWdot(eU));
socket->Append(Translation->GetUVWdot(eV));
socket->Append(Translation->GetUVWdot(eW));
socket->Append(Rotation->GetPQR(eP));
socket->Append(Rotation->GetPQR(eQ));
socket->Append(Rotation->GetPQR(eR));
socket->Append(Rotation->GetPQRdot(eP));
socket->Append(Rotation->GetPQRdot(eQ));
socket->Append(Rotation->GetPQRdot(eR));
socket->Append(Aircraft->GetForces(eX));
socket->Append(Aircraft->GetForces(eY));
socket->Append(Aircraft->GetForces(eZ));
socket->Append(Position->GetLatitude());
socket->Append(Position->GetLongitude());
socket->Append(Translation->Getqbar());
socket->Append(Translation->Getalpha());
socket->Append(Aircraft->GetMoments(eL));
socket->Append(Aircraft->GetMoments(eM));
socket->Append(Aircraft->GetMoments(eN));
socket->Append(FCS->GetThrottlePos(0));
socket->Append(FCS->GetDaLPos());
socket->Append(FCS->GetDaRPos());
socket->Append(FCS->GetDePos());
socket->Append(FCS->GetDrPos());
socket->Send();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGOutput::SocketStatusOutput(string out_str)
{
string asciiData;
if (socket == NULL) return;
socket->Clear();
asciiData = string("<STATUS>") + out_str;
socket->Append(asciiData.c_str());
socket->Send();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGOutput::Load(FGConfigFile* AC_cfg)
{
string token, parameter;
int OutRate = 0;
token = AC_cfg->GetValue("NAME");
Output->SetFilename(token);
token = AC_cfg->GetValue("TYPE");
Output->SetType(token);
#if defined( FG_WITH_JSBSIM_SOCKET ) || !defined( FGFS )
if (token == "SOCKET") {
socket = new FGfdmSocket("localhost",1138);
}
#endif
AC_cfg->GetNextConfigLine();
while ((token = AC_cfg->GetValue()) != string("/OUTPUT")) {
*AC_cfg >> parameter;
if (parameter == "RATE_IN_HZ") *AC_cfg >> OutRate;
if (parameter == "SIMULATION") {
*AC_cfg >> parameter;
if (parameter == "ON") SubSystems += ssSimulation;
}
if (parameter == "AEROSURFACES") {
*AC_cfg >> parameter;
if (parameter == "ON") SubSystems += ssAerosurfaces;
}
if (parameter == "RATES") {
*AC_cfg >> parameter;
if (parameter == "ON") SubSystems += ssRates;
}
if (parameter == "VELOCITIES") {
*AC_cfg >> parameter;
if (parameter == "ON") SubSystems += ssVelocities;
}
if (parameter == "FORCES") {
*AC_cfg >> parameter;
if (parameter == "ON") SubSystems += ssForces;
}
if (parameter == "MOMENTS") {
*AC_cfg >> parameter;
if (parameter == "ON") SubSystems += ssMoments;
}
if (parameter == "ATMOSPHERE") {
*AC_cfg >> parameter;
if (parameter == "ON") SubSystems += ssAtmosphere;
}
if (parameter == "MASSPROPS") {
*AC_cfg >> parameter;
if (parameter == "ON") SubSystems += ssMassProps;
}
if (parameter == "POSITION") {
*AC_cfg >> parameter;
if (parameter == "ON") SubSystems += ssPosition;
}
if (parameter == "COEFFICIENTS") {
*AC_cfg >> parameter;
if (parameter == "ON") SubSystems += ssCoefficients;
}
if (parameter == "GROUND_REACTIONS") {
*AC_cfg >> parameter;
if (parameter == "ON") SubSystems += ssGroundReactions;
}
if (parameter == "FCS") {
*AC_cfg >> parameter;
if (parameter == "ON") SubSystems += ssFCS;
}
if (parameter == "PROPULSION") {
*AC_cfg >> parameter;
if (parameter == "ON") SubSystems += ssPropulsion;
}
}
OutRate = OutRate>120?120:(OutRate<0?0:OutRate);
rate = (int)(0.5 + 1.0/(State->Getdt()*OutRate));
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// The bitmasked value choices are as follows:
// unset: In this case (the default) JSBSim would only print
// out the normally expected messages, essentially echoing
// the config files as they are read. If the environment
// variable is not set, debug_lvl is set to 1 internally
// 0: This requests JSBSim not to output any messages
// whatsoever.
// 1: This value explicity requests the normal JSBSim
// startup messages
// 2: This value asks for a message to be printed out when
// a class is instantiated
// 4: When this value is set, a message is displayed when a
// FGModel object executes its Run() method
// 8: When this value is set, various runtime state variables
// are printed out periodically
// 16: When set various parameters are sanity checked and
// a message is printed out when they go out of bounds
void FGOutput::Debug(int from)
{
if (debug_lvl <= 0) return;
if (debug_lvl & 1) { // Standard console startup message output
if (from == 0) { // Constructor
}
}
if (debug_lvl & 2 ) { // Instantiation/Destruction notification
if (from == 0) cout << "Instantiated: FGOutput" << endl;
if (from == 1) cout << "Destroyed: FGOutput" << endl;
}
if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
}
if (debug_lvl & 8 ) { // Runtime state variables
}
if (debug_lvl & 16) { // Sanity checking
}
if (debug_lvl & 64) {
if (from == 0) { // Constructor
cout << IdSrc << endl;
cout << IdHdr << endl;
}
}
}
}
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